CN107650144A - The demarcation calibration system and its method of a kind of industrial robot workpiece coordinate system - Google Patents
The demarcation calibration system and its method of a kind of industrial robot workpiece coordinate system Download PDFInfo
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- CN107650144A CN107650144A CN201710835987.2A CN201710835987A CN107650144A CN 107650144 A CN107650144 A CN 107650144A CN 201710835987 A CN201710835987 A CN 201710835987A CN 107650144 A CN107650144 A CN 107650144A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0095—Means or methods for testing manipulators
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Abstract
The present invention relates to a kind of demarcation calibration system of industrial robot workpiece coordinate system and its method, including industrial robot, robot controller, robot end's instrument, sensor installation intermediate structure part, calibration sensor component, workpiece erecting bed, the workpiece being placed on workpiece erecting bed；Calibration sensor component measures to the point on workpiece, detects the borderline point of indicatrix, is input to after output signal in robot controller；Trigger path disruption during robot controller reception signal, the position data Fflange and displacement data Msensor of calibration sensor short transverse in record, with reference to sensor mounting location data Fsensor, calculate the 6D data of workpiece coordinate system.Calibration process of the present invention is simple, can avoid demarcating plane because inclination and caused by determine inaccurate situation, stated accuracy is high, can be used in various workpiece occasions, and the systematic difference cost is low, is advantageously implemented large-scale popularization and application.
Description
Technical field
The present invention relates to industrial robot calibration technique field, specifically a kind of industrial robot workpiece coordinate system
Demarcate calibration system and its method.
Background technology
In industrial robot application system, the demarcation of the position orientation relation between different coordinates is that off-line programing is answered
Basis while be also that robot integrated application system is able to be able to the premise that replicates in different producing lines.For high-precision machine
Device people's operation application scenario, the workpiece coordinate system of different workpieces are required to on-line calibration and corrected in real time, and robot is according to repairing
Positive coordinate system carries out corresponding operation, and such as high accuracy is carried, high precision electro main shaft is polished, high accuracy riveting.
Chinese patent CN200880128941 discloses a kind of using the convex school with the ledge for being configured to spheroid
The scaling method and its system of the Mechanical Contact of the spill caliberator of quasi- object and two non-parallel inclined surfaces, its camber school
Quasi- object is arranged on robot end's flange, and spill calibration object is fastened installed in local coordinate system to be calibrated, and is at least needed
Three spill objects.But the method is in order to ensure final stated accuracy, it is necessary to which the very high convex of machining accuracy calibrates object
With the very high spill calibration object of machining accuracy, needing to meet that related cooperation requires therebetween, calibration object needs to install in advance,
Specific calibration process needs to contact with each other according to the requirement of specific pose, and calibration process is relative complex.
Chinese patent CN201510290538 discloses a kind of workpiece coordinate system off-line calibration for being used to carry de-stacking workpiece
Method and system, it is such a be mainly used in workpiece opposed robots operation operation planar it is opposed flattened in the case of, wherein surveying
Away from sensor can only the robot vertical direction of motion as defined in Accurate Determining range sensor itself height distance nominal value,
Then output signal corresponding to triggering, and carry out hereafter corresponding demarcating steps.But if workpiece operation planar tilt compared with
Greatly, it is follow-up to be likely to occur some directions because sensor too far apart from workpiece in vertical direction using optoelectronic switch measurement
Detect its edge.
United States Patent (USP) US8442304B2 discloses a kind of system that 3-dimensional space object pose is determined using 3D machine vision
And method, it can be used in robot application realizing robot system using the method progress characteristic matching of 3D vision shooting images
Workpiece pose on-line calibration amendment.But the application cost of 3D vision systems is very high, it is unfavorable for promoting on a large scale and answers
With.
The content of the invention
In order to avoid proposing a kind of demarcation of industrial robot workpiece coordinate system with solution above-mentioned technical problem, the present invention
Calibration system and its method.
The technical problems to be solved by the invention are realized using following technical scheme：
A kind of demarcation calibration system of industrial robot workpiece coordinate system, including industrial robot, robot controller, machine
Device people end-of-arm tooling, sensor installation intermediate structure part, calibration sensor component, workpiece erecting bed, it is placed on workpiece erecting bed
Workpiece.
Robot end's instrument is connected on industrial machine human wrist end by flange and carries out operation；The demarcation
Sensor cluster installs intermediate structure part by sensor and is arranged on robot end's instrument or industrial machine human wrist end method
Lan Shang, the workpiece are located in the spatial dimension of robot manipulation.
The calibration sensor component detects workpiece features curved boundary point, the special song by laser or other light sources
Line is the plane curve such as straight line or circular arc, is exported after digital quantity and shift simulation amount signal by the side of Ethernet or fieldbus
Formula is input in the robot controller.
Path disruption is triggered during the robot controller reception signal, records the positional number of robot end at the point of interruption
According to Fflange and the displacement data Msensor of calibration sensor short transverse, with reference to sensor mounting location data Fsensor
Afterwards, the 6D data of workpiece coordinate system are calculated by calibration algorithm.
Preferably, robot end's instrument is according to the specific operation of robot, can be carrying clamping device, welding gun,
Electro spindle is polished first-class any.
Preferably, the calibration sensor component is laser displacement sensor or line laser sensor center line laser sensor
It is any.The line laser sensor is any of two-dimensional laser sensor or profile laser sensor.
Preferably, the 6D data of the workpiece coordinate system can be supplied to off-line programing to apply or cover robot controller
The former data of work coordinate system.
Preferably, the 6D data of the workpiece coordinate system can be used for on-line calibration in high-precision robot applications
And workpiece coordinate system is repaired in real time.
A kind of demarcation calibration method of the demarcation calibration system of industrial robot workpiece coordinate system, methods described include following
Step：
Step 1：Industrial robot makes its end movement, and to the correct position of workpiece to be calibrated, the position is surface
Or front region.
Step 2：The indicatrix point of calibration sensor component detection workpiece, robot controller triggering are interrupted and recorded
The TCP numerical value Fflange and range information Msensor of robot end's flange.
Step 3：Robot controller combination TCP numerical value Fflange, range information Msensor and calibration sensor position
Information Fsensor is translated into the posture information of Frobot under basis coordinates system.
Step 4：Workpiece is determined using least square fitting by converting to basis coordinates system Frobot multiple spot posture information
The plane equation Ax+by+Cz+D=0 of indicatrix.
Step 5：The particular point of required plane equation or the origin that relevant intersection is workpiece coordinate system on selected characteristic curve
Oobj, taking two point vector directions in the multiple spot wherein detected, the normal vector of place plane is Zobj, and the right hand is fixed as Xobj
Then determine Yobj.
Preferably, when calibration sensor component is laser displacement sensor, the step 2 includes control industrial machine
People is moved along the direction of basis coordinates system until detecting indicatrix border, and the Msensor is laser displacement sensor
Positional distance information.In the indicatrix selection is generally aligned in the same plane, i.e., it can uniquely determine the pose of workpiece, laser displacement
Sensor takes it to be characterized a little when searching indicatrix border in motion process, carry out multiple feature point detections, the spy
Sign point need to be more than three, and the unilateral of adjacent both sides upper at least takes two points respectively on workpiece features curve.
Preferably, the direction of the basis coordinates system is included in X direction, along Y-direction.
Preferably, when calibration sensor component is line laser sensor, the step 2 is included to multiple indicatrixes
The detection of boundary point, the Msensor are characterized the range information of curved boundary point.When carrying out characteristic point measurement, choose wherein
The characteristic point position of more than four, characteristic point position are located on the conplane indicatrix in the threedimensional model of workpiece.
The beneficial effects of the invention are as follows：
The present invention need not install in advance to demarcation workpiece, eliminate and contacted with each other according to specific pose requirement, demarcated
Process is simple, can avoid demarcate plane because inclination and caused by determine inaccurate situation, easy for operation, stated accuracy
Height, it can be used in various workpiece occasions, the systematic difference cost is low, economical and practical, is advantageously implemented to promote on a large scale and answers
With.
Brief description of the drawings
The present invention is further described with reference to the accompanying drawings and examples.
The system that Fig. 1 is the present invention forms structural representation；
Fig. 2 is that demarcation sensor cluster is laser displacement sensor and installs the schematic diagram of one in the present invention；
Fig. 3 is that demarcation sensor cluster is laser displacement sensor and installs the schematic diagram of two in the present invention；
Fig. 4 is that demarcation sensor cluster is line laser sensor and installs the schematic diagram of two in the present invention；
Fig. 5 is that demarcation sensor cluster is line laser sensor and installs the schematic diagram of one in the present invention；
Fig. 6 is measurement procedure schematic diagram when calibration sensor is laser displacement sensor in the present invention；
Fig. 7 is measurement procedure schematic diagram when calibration sensor is line laser sensor in the present invention.
Embodiment
In order that the technical means, the inventive features, the objects and the advantages of the present invention are easy to understand, below it is right
The present invention is expanded on further.
As shown in Figures 1 to 7, a kind of demarcation calibration system of industrial robot workpiece coordinate system, including industrial robot
1st, robot controller, robot end's instrument 2, sensor installation intermediate structure part 3, calibration sensor component 4, workpiece installation
Platform 5, the workpiece 6 being placed on workpiece erecting bed 5.
Robot end's instrument 2 is arranged on the wrist end of industrial robot 1, the calibration sensor group by flange
Part 4 is installed intermediate structure part 3 by sensor and is arranged on robot end's instrument 2 or on wrist end flange, and workpiece 6 is located at
In the range of the operating space of industrial robot 1.
In the present invention, flange coordinate system Fflange is the central point of the flange under the basis coordinates system Frobot of robot 1
Spatial pose data；The instrument TCP coordinate systems Ftool_tcp of instrument 2 refers to the TCP of instrument 2 relative to the instrument base of instrument 2
Coordinate system Ftool_b spatial pose data；In the installation of reality, instrument basis coordinates system Ftool_b and the flange of instrument 2 are sat
Mark system Fflange is overlapped, then instrument TCP can be tried to achieve relative to the basis coordinates system of robot by (1) formula：
The sensor coordinate system Fsensor of calibration sensor 4 refers to that sensor 4 installs intermediate structure part 3 by sensor
The position installed on instrument 2 relative to instrument basis coordinates system Ftool_b data.If the height displacement that sensor 4 detects
Data are Msensor, then Fsensor and Msensor sums are expression measurement point opposed robots' flange coordinate system Fflange's
Spatial pose；It is above-mentioned and be multiplied with flange coordinate system Fflange, then it represents that measurement point is relative to robot basis coordinates system Frobot
Spatial pose, physical relationship are represented with formula (2)：
Take multiple points in 6 a certain plane of workpiece to measure, can determine that planar process determines workpiece 6 by least square method
Plane equation of this plane under the robot basis coordinates system Frobot of robot 1, then chooses some in wherein test point
Special characteristic point seeks the origin Oobj that the intersection point between its cathetus is workpiece coordinate system, and the detection two wherein to specify
As Xobj, the normal direction of place plane is Zobj, and Yobj is can determine that according to the right-hand rule in point direction.So by the seat of workpiece 6
Mark system Fobj and formula (1) try to achieve instrument TCP coordinate systemsIt is unified under the basis coordinates system of robot 1.
The calibration sensor component 4 is measured to the point on workpiece 6, and feature is detected by laser or other light sources
Point on curved boundary, the particular curve are the plane curves such as straight line or circular arc, export digital quantity and shift simulation amount signal
Afterwards, it is input to by way of Ethernet or fieldbus in robot controller.
When the robot controller receives the signal of calibration sensor component 4, path disruption can be triggered, and record
The position data Fflange of the robot end and displacement data Msensor of calibration sensor short transverse, machine at the point of interruption
People's controller will detect the position data Fflange and height displacement Msensor of robot end corresponding to multiple points of acquisition
And after combining sensor mounting location data Fsensor, the 6D data of workpiece coordinate system are calculated by calibration algorithm.
Robot end's instrument 2 can be carrying clamping device, welding gun, electro spindle according to the specific operation of robot
Polish first-class any.
The 6D data of the workpiece coordinate system can be supplied to off-line programing to apply or cover robot controller work and sit
Mark the former data of system.
The 6D data of the workpiece coordinate system can be used in high-precision robot applications on-line calibration and real-time
Repair workpiece coordinate system.
The calibration sensor component 4 is any of laser displacement sensor or line laser sensor.It is described
Line laser sensor is any of two-dimensional laser sensor or profile laser sensor.
If calibration sensor component 4 is laser displacement sensor, when laser displacement sensor is two, in robot
End-of-arm tooling 2 installs a laser displacement sensor respectively with Y-direction in X direction respectively, sees Fig. 2；Work as laser displacement sensor
For one when, the installation in another direction can obtain equal effect by the way that robot end's instrument 2 is rotated by 90 °, and see
Fig. 3, but need to consider the objects that can be situated between such as actual robot end's cable and tracheae in robot wrist's rotary course
Winding.
If calibration sensor component 4 is line laser sensor, workpiece 6 is operated according to industrial robot 1 and detects feature song
The locus of line hookup wire laser sensor, in general mounting means on robot end or robot end's instrument 2 are：
In the end of robot end's instrument 2, parallel installation is two or more, sees Fig. 4；Another mounting means only installs one,
See Fig. 5, the measurement of remaining point can be by carrying out along required direction mobile robot end-of-arm tooling 4.
A kind of demarcation calibration method of the demarcation calibration system of industrial robot workpiece coordinate system, passed with reference to different installations
Sensor classification, described method specifically include：
1) calibration sensor component 4 is laser displacement sensor, sees Fig. 6.
Step 401：Control industrial robot 1 makes its end flange move to be calibrated or calibration workpiece 6 correct position,
The position is surface or front region；
Measurement range of the workpiece 6 in laser displacement sensor need to be ensured, and take laser displacement sensor 4 now as far as possible
Vertical range between workpiece 6 is the median of measurement range, and ensures that flange can make in follow-up horizontal in-plane moving
Laser displacement sensor measures the position of the point of 6 all indicatrixes of workpiece.
Step 402：X-direction of the end flange of industrial robot 1 along robot basis coordinates system is controlled to move, until laser position
Displacement sensor 4 detects the border of the indicatrix of workpiece 6, and triggers corresponding signal to robot controller.
Step 403：Robot controller triggering is interrupted and records the TCP numerical value of the now end flange of industrial robot 1
Fflange and laser displacement sensor range information Msensor, then stop travelling forward, then industrial robot 1 is along preceding
One section of motion path returns to the initial point in so far path.
Step 404：For a Rule of judgment, Y-direction is examined as defined according to current institute's measuring point number and according to indicatrix feature
Measuring point number is made comparisons, and is then to go to step 405 if current institute measuring point number, which is less than, requires Y-direction regulation detection points；It is no, then
Go to step 406.
Step 405：Y-direction of the end flange of industrial robot 1 along robot basis coordinates system Frobot is controlled to move specific
Distance, and ensured accurately in place by robotic programming, the search of the progress next boundary point of indicatrix.
Step 406：Y-direction of the end flange of industrial robot 1 along robot basis coordinates system Frobot is controlled to move, until
Sensor detects the border of indicatrix, and triggers corresponding signal to robot controller.
Step 407：Robot controller triggering is interrupted and records the TCP numerical value of the now end flange of industrial robot 1
Fflange and laser displacement sensor range information Msensor, then stop travelling forward, then industrial robot 1 is along preceding
One section of motion path returns to the initial point in so far path.
Step 408：For a Rule of judgment, X-direction is examined as defined according to current institute's measuring point number and according to indicatrix feature
Measuring point number is made comparisons, and is then to go to step 409 if current institute measuring point number, which is less than, requires X-direction regulation detection points；It is no, then
Go to step 410.
Step 409：X-direction of the end flange of industrial robot 1 along robot basis coordinates system Frobot is controlled to move specific
Distance, and ensured accurately in place by robotic programming, the search of the progress next boundary point of indicatrix；
Step 410：The end flange of industrial robot 1 is controlled to return to initial point when detection starts.
Step 411：According to the installation site information Fsensor of laser displacement sensor, the characteristic point recorded distance letter
Msensor and corresponding boundary point TCP point information Fflange are ceased, robot controller converts the position of characteristic point to robot
Frobot posture information under basis coordinates system.
Step 412：Using multiple characteristic point position information under the robot basis coordinates system Frobot after conversion as most
Small square law determines that multiple spot determines the input of plane, you can determines the indicatrix institute of workpiece 6 of Frobot under robot basis coordinates
In plane equation Ax+by+Cz+D=0.
Step 413：Then some special characteristic point or to seek the intersection point between its cathetus be work on selected characteristic curve
The origin Oobj of part coordinate system, and 2 directions of detection wherein to specify are as Xobj, the normal direction of place plane are Zobj, root
Yobj is can determine that according to the right-hand rule.
2) calibration sensor component 4 is line laser sensor, sees Fig. 7.
Step 501：Control the end flange of industrial robot 1 move to it is to be calibrated or calibration workpiece 6 surface or just before
Square region；It need to ensure in the online laser sensor measured zone of the indicatrix of workpiece 6.
Step 502 and 503：For the different choice situation of single line laser sensor and multiple line laser sensors, if
For a line laser sensor, then step 504 is gone to；If the line laser sensor of two and its above, then go to step
505。
Step 504：Because being single line laser sensor, then need by the end of industrial robot 1 repeatedly move into
Row repeatedly measurement search, that is, the end flange of industrial robot 1 is controlled to make the different positions of indicatrix of its repeated detection workpiece 6
Put, the motion process of industrial robot 1 needs to ensure its end flange in level, next step 506.
Step 505：Multiple line sensors detect the indicatrix boundary point of workpiece 6, and output signal and multiple spies simultaneously
Levy range information Msensor corresponding to boundary point, next step 507.
Step 506：Program specified location, pause motion, and output signal and multiple spies are arrived per mobile industrial robot 1
Levy curved boundary point range information Msensor, next step 507.
Step 507：Robot controller triggering is interrupted and records the TCP numerical value of the now end flange of industrial robot 1
Fflange and corresponding each characteristic point range information Msensor.
Step 508：According to the installation site information Fsensor of each line sensor, the workpiece 6 recorded characteristic point away from
From information Msensor and corresponding boundary point TCP point information Fflange, robot controller converts the position of characteristic point to machine
Frobot positional information under device people's basis coordinates system.
Step 509：Using multiple characteristic points under the robot basis coordinates system Frobot after conversion positional information as most
Small square law determines that multiple spot determines the input of plane, you can determines the indicatrix institute of workpiece 6 of Frobot under robot basis coordinates
In plane equation Ax+by+Cz+D=0.
Step 510：Then some special characteristic point or to seek the intersection point between its cathetus be work on selected characteristic curve
The origin Oobj of part coordinate system, and 2 directions of detection wherein to specify are as Xobj, the normal direction of place plane are Zobj, root
Yobj is can determine that according to the right-hand rule.
General principle, principal character and the advantages of the present invention of the present invention has been shown and described above.The technology of the industry
For personnel it should be appreciated that the present invention is not limited to the above embodiments, that described in above-described embodiment and specification is the present invention
Principle, without departing from the spirit and scope of the present invention, various changes and modifications of the present invention are possible, these change and
Improvement is both fallen within claimed invention.The claimed scope of the invention is by appended claims and its equivalent circle
It is fixed.
Claims (10)
- A kind of 1. demarcation calibration system of industrial robot workpiece coordinate system, it is characterised in that：Including industrial robot (1), machine Device people controller, robot end's instrument (2), sensor installation intermediate structure part (3), calibration sensor component (4), workpiece peace Fill platform (5), the workpiece (6) being placed on workpiece erecting bed (5)；The calibration sensor component (4) is installed intermediate structure part (3) by sensor and is arranged on robot end's instrument (2) Or on the wrist flange of industrial robot end, the point on indicatrix border on calibration sensor component (4) the detection workpiece (6) And it is input to after exporting digital quantity and shift simulation amount signal in the robot controller；The robot controller reception signal triggers path disruption, records the position data of robot end at the point of interruption Fflange and calibration sensor short transverse displacement data Msensor, in conjunction with calibration sensor installation position data After Fsensor, the 6D data of workpiece coordinate system are calculated by calibration algorithm.
- A kind of 2. demarcation calibration system of industrial robot workpiece coordinate system according to claim 1, it is characterised in that：Institute Specific operation of the robot end's instrument (2) according to robot is stated, can be first-class for carrying clamping device, welding gun, electro spindle polishing It is any.
- A kind of 3. demarcation calibration system of industrial robot workpiece coordinate system according to claim 1, it is characterised in that：Institute It is any of laser displacement sensor or line laser sensor to state calibration sensor component (4).
- A kind of 4. demarcation calibration system of industrial robot workpiece coordinate system according to claim 3, it is characterised in that：Institute It is any of two-dimensional laser sensor or profile laser sensor to state line laser sensor.
- A kind of 5. demarcation calibration system of industrial robot workpiece coordinate system according to claim 1, it is characterised in that：Institute Stating the 6D data of workpiece coordinate system can be supplied to off-line programing to apply or cover the former number of robot controller work coordinate system According to.
- A kind of 6. demarcation calibration system of industrial robot workpiece coordinate system according to claim 1, it is characterised in that：Institute The 6D data for stating workpiece coordinate system can be used for on-line calibration in high-precision robot applications and repair workpiece seat in real time Mark system.
- A kind of 7. demarcation calibration side of the demarcation calibration system of industrial robot workpiece coordinate system according to claim 1 Method, it is characterised in that：It the described method comprises the following steps：Step 1：Industrial robot (1) end movement to workpiece to be calibrated correct position；Step 2：The indicatrix point of calibration sensor component (4) detection workpiece (6), robot controller triggering are interrupted and remembered Record the TCP numerical value Fflange and range information Msensor of robot end；Step 3：Robot controller combination TCP numerical value Fflange, range information Msensor and calibration sensor positional information Fsensor is translated into the posture information of Frobot under basis coordinates system；Step 4：Workpiece is determined by converting to basis coordinates system Frobot multiple spot pose Information Pull least square fitting planar process The plane equation Ax+by+Cz+D=0 of indicatrix；Step 5：The particular point of required plane equation or the origin that relevant intersection is workpiece coordinate system on selected characteristic curve Oobj, taking two point vector directions in the multiple spot wherein detected, the normal vector of place plane is Zobj, and the right hand is fixed as Xobj Then determine Yobj.
- A kind of 8. demarcation calibration side of the demarcation calibration system of industrial robot workpiece coordinate system according to claim 7 Method, it is characterised in that：When calibration sensor component (4) is laser displacement sensor, the step 2 includes control industrial machine Device people (1) is moved along the direction of basis coordinates system until detecting indicatrix border, and the Msensor senses for laser displacement The positional distance information of device.
- A kind of 9. demarcation calibration side of the demarcation calibration system of industrial robot workpiece coordinate system according to claim 8 Method, it is characterised in that：Described direction is included in X direction, along Y-direction.
- A kind of 10. demarcation calibration side of the demarcation calibration system of industrial robot workpiece coordinate system according to claim 7 Method, it is characterised in that：When calibration sensor component (4) is line laser sensor, the step 2 is included to indicatrix The detection of multiple boundary points, the Msensor are characterized the range information of curved boundary point.
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